def mAddOutPort(self, name, m_inport, row, col, mlen, sn, mstate, t_attachports, autoCon = True): sig = CalcDataPort.DataType.Single sec = CalcDataPort.DataType.Sequence ext = CalcDataPort.DataType.Extend m_data_o = None m_data_type = None if autoCon: m_data_o, m_data_type = CalcDataPort.GetDataType(m_inport[1]) else: m_data_o, m_data_type = CalcDataPort.GetDataSType(m_inport[1]) if m_data_o: m_outport = OpenRTM_aist.OutPort(name, m_data_o) self.addOutPort(name, m_outport) if autoCon: OOoRTC.ConnectPort(m_inport[1], m_outport._objref, name) if m_data_type[1] == sig: self.OutPorts[name] = self.m_CalcOutPort(m_outport, m_data_o, name, row, col, mlen, sn, mstate, m_inport, m_data_type, t_attachports) elif m_data_type[1] == sec: self.OutPorts[name] = self.m_CalcOutPortSeq(m_outport, m_data_o, name, row, col, mlen, sn, mstate, m_inport, m_data_type, t_attachports) elif m_data_type[1] == ext: self.OutPorts[name] = self.m_CalcOutPortEx(m_outport, m_data_o, name, row, col, mlen, sn, mstate, m_inport, m_data_type, t_attachports) return self.OutPorts[name] return None
def mAddInPort(self, name, m_outport, row, col, mlen, sn, mstate, t_attachports, autoCon=True): sig = CalcDataPort.DataType.Single sec = CalcDataPort.DataType.Sequence ext = CalcDataPort.DataType.Extend m_data_i = None m_data_type = None if autoCon: m_data_i, m_data_type = CalcDataPort.GetDataType(m_outport[1]) else: m_data_i, m_data_type = CalcDataPort.GetDataSType(m_outport[1]) if m_data_i: m_inport = OpenRTM_aist.InPort(name, m_data_i) self.addInPort(name, m_inport) if autoCon: OOoRTC.ConnectPort(m_inport._objref, m_outport[1], name) #self.InPorts[name] = self.m_CalcPortObject(m_inport, m_data_i, name, row, col, mlen, sn, mstate, m_outport, m_data_type, t_attachports) if m_data_type[1] == sig: self.InPorts[name] = self.m_CalcInPort(m_inport, m_data_i, name, row, col, mlen, sn, mstate, m_outport, m_data_type, t_attachports) elif m_data_type[1] == sec: self.InPorts[name] = self.m_CalcInPortSeq( m_inport, m_data_i, name, row, col, mlen, sn, mstate, m_outport, m_data_type, t_attachports) elif m_data_type[1] == ext: self.InPorts[name] = self.m_CalcInPortEx( m_inport, m_data_i, name, row, col, mlen, sn, mstate, m_outport, m_data_type, t_attachports) m_inport.addConnectorDataListener( OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, DataListener(self.InPorts[name], self)) return self.InPorts[name] return None
def mAddOutPort(self, name, m_inport, offset, scale, pos, obj, autoCon = True): m_data_o = None m_data_type = None if autoCon: m_data_o, m_data_type = DrawDataPort.GetDataType(m_inport[1]) else: m_data_o, m_data_type = DrawDataPort.GetDataSType(m_inport[1]) if m_data_o: m_outport = OpenRTM_aist.OutPort(name, m_data_o) self.addOutPort(name, m_outport) if autoCon: OOoRTC.ConnectPort(m_outport._objref, m_inport[1], name) self.OutPorts[name] = DrawDataPort.DrawPortObject(m_outport, m_data_o, name, offset, scale, pos, obj, m_inport, m_data_type)